{"id":"https://openalex.org/W3081783692","doi":"https://doi.org/10.1109/med48518.2020.9183026","title":"Trajectory Control of Omnidirectional Mobile Robots Considering Low-level Actuator Dynamics","display_name":"Trajectory Control of Omnidirectional Mobile Robots Considering Low-level Actuator Dynamics","publication_year":2020,"publication_date":"2020-09-01","ids":{"openalex":"https://openalex.org/W3081783692","doi":"https://doi.org/10.1109/med48518.2020.9183026","mag":"3081783692"},"language":"en","primary_location":{"id":"doi:10.1109/med48518.2020.9183026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med48518.2020.9183026","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 28th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5062241405","display_name":"Huan Van Phan","orcid":null},"institutions":[{"id":"https://openalex.org/I87547150","display_name":"Southern Illinois University Edwardsville","ror":"https://ror.org/04cqs5j56","country_code":"US","type":"education","lineage":["https://openalex.org/I2801502357","https://openalex.org/I87547150"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Huan Van Phan","raw_affiliation_strings":["Mechanical and Mechatronics Engineering Department, Southern Illinois University Edwardsville, Edwardsville, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Mechatronics Engineering Department, Southern Illinois University Edwardsville, Edwardsville, IL, USA","institution_ids":["https://openalex.org/I87547150"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091397314","display_name":"Hasan Ferdwosi","orcid":null},"institutions":[{"id":"https://openalex.org/I102502594","display_name":"Northern Illinois University","ror":"https://ror.org/012wxa772","country_code":"US","type":"education","lineage":["https://openalex.org/I102502594"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hasan Ferdwosi","raw_affiliation_strings":["Department of Electrical Engineering, Northern Illinois University, DeKalb, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Northern Illinois University, DeKalb, IL, USA","institution_ids":["https://openalex.org/I102502594"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102944220","display_name":"Nima Lotfi","orcid":"https://orcid.org/0000-0003-0344-2448"},"institutions":[{"id":"https://openalex.org/I87547150","display_name":"Southern Illinois University Edwardsville","ror":"https://ror.org/04cqs5j56","country_code":"US","type":"education","lineage":["https://openalex.org/I2801502357","https://openalex.org/I87547150"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nima Lotfi","raw_affiliation_strings":["Mechanical and Mechatronics Engineering Department, Southern Illinois University Edwardsville, Edwardsville, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Mechatronics Engineering Department, Southern Illinois University Edwardsville, Edwardsville, IL, USA","institution_ids":["https://openalex.org/I87547150"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12778036,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"996","last_page":"1001"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9886999726295471,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/holonomic","display_name":"Holonomic","score":0.8171352744102478},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.737139105796814},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.7080894112586975},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.678146243095398},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6463010907173157},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6425472497940063},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6279995441436768},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5999775528907776},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5018997192382812},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5001838207244873},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.455495685338974},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.4102986454963684},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29441046714782715},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2044658064842224},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18720883131027222},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1742802858352661},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1045350432395935}],"concepts":[{"id":"https://openalex.org/C2777964439","wikidata":"https://www.wikidata.org/wiki/Q5884201","display_name":"Holonomic","level":2,"score":0.8171352744102478},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.737139105796814},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.7080894112586975},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.678146243095398},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6463010907173157},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6425472497940063},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6279995441436768},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5999775528907776},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5018997192382812},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5001838207244873},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.455495685338974},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.4102986454963684},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29441046714782715},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2044658064842224},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18720883131027222},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1742802858352661},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1045350432395935},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/med48518.2020.9183026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/med48518.2020.9183026","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 28th Mediterranean Conference on Control and Automation (MED)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1484387568","https://openalex.org/W1607505686","https://openalex.org/W1971701188","https://openalex.org/W1989445699","https://openalex.org/W2032285034","https://openalex.org/W2064549548","https://openalex.org/W2111479185","https://openalex.org/W2558485687","https://openalex.org/W2790693807","https://openalex.org/W3090636059","https://openalex.org/W4243385754"],"related_works":["https://openalex.org/W2156868854","https://openalex.org/W2281200235","https://openalex.org/W84202494","https://openalex.org/W2577491335","https://openalex.org/W2069596755","https://openalex.org/W2045978853","https://openalex.org/W2166825355","https://openalex.org/W2115907340","https://openalex.org/W4244593870","https://openalex.org/W2131454054"],"abstract_inverted_index":{"High":[0],"degree":[1],"of":[2,24,31,45,56,77,88],"maneuverability":[3],"in":[4,21,34,118],"omnidirectional":[5,35],"mobile":[6],"robots,":[7],"which":[8,72,111],"stems":[9],"from":[10],"their":[11],"holonomic":[12],"nature,":[13,110],"has":[14],"posed":[15],"them":[16],"as":[17,121],"an":[18],"attractive":[19],"solution":[20],"a":[22,57,114],"variety":[23],"applications.":[25],"This":[26],"paper":[27],"studies":[28],"the":[29,43,46,54,69,86,89,98,125],"problem":[30],"trajectory":[32],"control":[33,70,79],"robots":[36],"based":[37],"on":[38],"practical":[39,119],"observations.":[40],"More":[41],"specifically,":[42],"dynamics":[44],"low-level":[47],"motor":[48],"drivers":[49],"are":[50],"explicitly":[51],"incorporated":[52],"during":[53],"development":[55],"hierarchical":[58],"controller.":[59],"Lyapunov's":[60],"stability":[61],"theorem":[62],"is":[63],"then":[64],"used":[65],"to":[66,93,103],"analytically":[67],"derive":[68],"law":[71],"could":[73],"achieve":[74],"seamless":[75],"integration":[76],"different":[78],"structure":[80],"hierarchies.":[81],"The":[82],"simulation":[83],"results":[84],"show":[85],"effectiveness":[87],"proposed":[90],"method":[91],"compared":[92],"other":[94],"commonly-used":[95],"algorithms.":[96],"Furthermore,":[97],"controller":[99],"exhibits":[100],"low":[101],"sensitivity":[102],"model":[104],"parameter":[105],"variations":[106],"despite":[107],"its":[108],"model-based":[109],"would":[112,123],"be":[113],"very":[115],"beneficial":[116],"feature":[117],"implementations":[120],"it":[122],"limit":[124],"need":[126],"for":[127],"extensive":[128],"modeling":[129],"and":[130],"calibration.":[131]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}